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Releases: wuji-technology/toporetarget

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v2026.10.23

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@AsahelLee AsahelLee released this 23 Oct 12:30
v2026.10.23
9c4c33e

v2026.10.23 (2026-10-23)

New Features

  • Introduce TopoRetarget: a CPU-only, frame-by-frame QP solver for interaction-preserving hand-object motion retargeting, with interaction-mesh optimization, joint limits and non-penetration constraints; include right- and left-hand Wuji Hand 2 configurations.
  • Import GRAB, TACO, OakInk2 and HOT3D data, or keypoint capture bundles with 21 hand keypoints and object poses, into a common dataset layout; include the pen_spin_029 example clip.
  • Replay retargeted hands and objects in the browser viewer, inspect captured keypoints and contact links, and render videos.
  • Retarget datasets in parallel with toporetarget batch, and save playback motions with diagnostic arrays and effective solver configuration.
  • Provide a standalone conversion example for wuji-mjlab v2026.10.22's pen_spin task: one pen, the right Wuji Hand 2 and 50 Hz. The adapter uses the original capture and asset metadata alongside retargeting results; other objects, multiple objects and left-hand results are not supported by this example.

Caution

  • Clone recursively: use git clone --recurse-submodules https://github.com/wuji-technology/toporetarget. GitHub's automatically generated Source code (zip/tar.gz) archives do not include the wuji-description submodule. Without that submodule, the required hand models are missing and the project cannot run.
  • Raw capture attachment: toporetarget-assets.zip contains our MIT-licensed pen-spin raw capture data, including the original clips and asset metadata needed to import captures, retarget them and convert the results into wuji-mjlab pen-spin reference clips. Follow Training in wuji-mjlab in the README. This is raw capture data, not a collection of trained checkpoints.
  • Separate downloads and licenses: MANO and the public datasets are not distributed with the repository or this attachment. Obtain them separately under their respective terms; MANO registration is required for the public-dataset workflow.

Full Changelog: Initial public release; there is no previous release to compare.

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